JPS60169904A - Work command type robot control device - Google Patents

Abstract

PURPOSE:To improve responsiveness by encoding a series of operation commands, storing the encode result in a programmable logic array and generating an operation command sequentially under an operation advancing condition. CONSTITUTION:A work command type control device 1 controls a controlled system 2 such as a robot. The device 1 makes the controlled system 2 execute prescribed work. A resies of macro-work commands is encoded and stored in a work command storing part 3. A work command 3A read out from the device 1 is sent to a work command/operation command conversion logic part 5 through a work command code-stored gate part 4 to output an operation command 5A, an operation data address 5B and an advancing condition code 5C successively. The code 5C is sent to an operation command advancing control part 8 together with information from a preset data part 9, an answer back input point specifying part 10 and an input part 11, and on the basis of an advancing control command 8A outputted from the control part 8, said logic part 5 outputs the succeeding operation command or the like to execute the work sequentially.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to the control of intelligent robots, and particularly to a simple and high-speed control logic that uses a programmable logic array to perform a series of lower-level operations in response to work commands. Concerning flexible robot control methods.

[Background of the invention]

A verbal command type robot control method using a microcomputer, programmable controller, etc. is considered, but it has disadvantages in terms of how to give verbal commands, responsiveness, and portability.

[Purpose of the invention]

The purpose of the present invention is to use a programmable logic array to realize control logic that allows a robot to perform a series of lower-level operations necessary for the advanced work and complete the given work when a high-level work command is given to the robot. The object of the present invention is to provide a simple, high-speed control device that can be mounted on a robot body.

[Summary of the invention]

For one work command, a series of operation commands for performing this work are coded and stored in a programmable logic array, and control logic is configured to output operation progress conditions and operation data addresses in addition to the operation command. This feature is characterized in that operation commands are generated sequentially/shall according to the operation progress conditions.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to FIGS. 1 to 5. FIG. 1 shows the overall configuration of the present invention, and a portion 1 surrounded by a dashed line is a work command type control device of the present invention, by which a controlled object 2 such as a robot is controlled.

The basic function of the work command m control device 10 is to simply give a macro work command, sequentially output the micro action commands that make up the work command, and cause the controlled object such as a robot to perform a predetermined work. be. A series of macro work commands are coded and stored in the work command storage section 3. One work command 3A read from the door storage section 3 is transmitted to the work command/operation command conversion logic section 5 through the work command code specific gate section 4.

The work command/motion command conversion logic unit 5 into which the work command is input converts the motion command 5A by control logic, which will be described in detail later.
, operation data address, address 5B and progress condition code 5C
output in sequence. Operation commands 5A sequentially output
and the operation data address 5B, the latter 5B is input to the operation data storage section 6. The storage unit 6 reads out the operation data 6A corresponding to the input address 5B. The read operation data 6A, together with the operation command 5A, is converted into a code that matches the controlled object 2 by the operation command code converter 7, and is output as an operation control command 7A.

The progress condition code 5C is transmitted to the operation command progress control section 8, and together with information from the preset data section 9, answerback input point pointing section 1O, and answerback input section 11, the progress condition code 5C is used to determine the progress of the operation command to be output next. Used for control. Progress control command 8 output from the movement command progress control section 8
At A, the work command/motion command conversion logic section 5 outputs the next motion command, motion data address, and progress condition code.

In this way, for one work command, the motion control commands that make up this work command are sequentially output based on the progress conditions, and when the final motion control command is issued and the work is completed,
The instruction to call the next work command is assigned to the gate section 4 by work command code.
is issued. The above information is returned to the next called work command.

This will be explained in more detail below. For example, it is assumed that a work command called PICK is stored in the work command storage unit 3 in FIG. It is assumed that this PICK is a work command "Grasp a part" and is composed of the following motion control commands.

(1) MOVE PI (2) (JRIENT Wl (3) OPEN (4) APPR, OWl (5) CLO8E (6) I) EPADO T Wl (7) MOVE PI This series of operation control commands is (1) Move the arm to point PI (2) Position the node toward part point W1 (3) Open the hand (4) Approach the node toward Wl (5) Close the hand (6) Move away from Wl (7) means move the arm to point PI, and once operations (1) to (7) are completed, move the arm to point PI.
The work called CK will be completed.

In the explanations so far, the motion commands, motion data, progress conditions, and motion control commands have been used without being defined, so they will be defined here.

In the above example, MOVE, OI(, IENT, (JPEN
・The command for the FI operation itself is called a motion command, and the PI
, Wl, etc. are information necessary for operation, and these are called operation data. The motion data generally includes position coordinates, direction, speed, etc. indicating a point or location.

One motion can be commanded using a motion command and motion data, and these two will be collectively referred to as a motion control command. However, there are also motion control commands such as 0PEN and CLO8E that do not require motion data and consist only of motion commands.

A series of multiple motion control commands are issued for one work command, but one motion control command and the next motion control command are not unrelated. One motion control command is issued, and when a certain condition is satisfied, the next motion control command is issued. This condition will be called a progress condition.

As shown in Table 1 (a) to (d), work instructions (symbol X
), operation command (symbol Y), operation data and progress conditions (
The symbol Ci) will be expressed by symbols and codes.

Symbols and codes are not unique and can be arbitrarily determined without any problem.

Table 1 (a) Table 1 (b) Table 1 (C) Table 1 (d) If the above-mentioned PICK example is expressed in symbols, it would look like the AI section in Table 2. In other words, work command X called PICK
2, A(1) gives operation command Y.

tNoVEl, operation data address AI, operation data P1 stored in the stop address, and progress condition C
1 (unconditional progress) is output. The progress condition for ya α) is C
Since it is an unconditional progression of step 3, it advances unconditionally to the next A(2). In A(2), Y4, A2. W.

C2 is output, and since the progression condition is to hold C2 and manual progression, A(2) is held, and the progression to the next plane (3) is made by manual operation.

Hereinafter, the process progresses in this way from A(4) to Bian(7).

At stage (7), the progression condition is C6, and C1l does not progress any further. In other words, it indicates that a series of operation control commands has been completed. When this C0 is detected, the next work command is called. In the case of Table 2 (a), it is X, +PLACE). - Regarding X3, operation control commands A(1) to A(6) are similarly output. In Table 2 (a), work command X1 movement command Y and progress condition C are set as
The code displayed with reference to (b) and (d) is
Table 2 (b). The operation data address and the operation data code will be described later.

Table 2 (b) A programmable (writable) logic array (hereinafter abbreviated as PLA) as one example of a specific method of sequentially outputting a series of motion control commands along with progress conditions in response to one work command. This will be explained using an example using .

As shown in FIG. 2, the work command PICK is encoded into a 4-bit binary code (0010) and input to the work command code specific gate section 4. In the gate section 4, according to the AND, OR, logic shown in FIG.
(110) outputs a logic "1". Similarly, in response to the 16 types of work commands, one of the A's of Xor X+...XIs outputs a logic 11''.

The output 4A of the gate unit 4 corresponding to this work command is input to the work command/operation command conversion logic unit 5. FIG. 3 shows a logic section for inputting work commands X and X to the conversion logic section 50. X.

When ="'1" is input to X in Figure 3, A of PLA
%VF of JJD logic section, w: ,...+W
,,"III is activated. For X,=-1", W:, W:+..., W-6 are activated.

Other input group Z++Z to AND logic section? +Z
3 and z4 are outputs of the operation command progress control section 8. This is the output of a 4-bit binary counter and has the role of advancing the logic operation of the conversion logic section. Now, X, =
In the case of ``''-1'', Zl+Z1+Z,, z, is (z41 Za, Zt+ Z+) = (O, (1,0
, 0), VV:@ is selected and Ya and C6 of the 0 logic section are output. Similarly 'z41 Z8+ Z! + z, l= IOr ('+
01), then the w: line is selected and Yl l CI
will be output. That's all (rl) (0000) Yo, C.

(t) +ooo1) Yl, CI (2) +oo1o) Y4. ct (3) 10011) Yl, C5 (4) +0100) yll, C2 (5) (0101), Yl, 04 (6) (0110) Ya, self (7) +0111) Ys, C.

(8) (1000) Yo, C.

It can be seen that The above (1) to (7) are the same as the operation commands and progress conditions of (1) to (7) for X in Table 2 (a). Similarly, regarding work order X,
It can be seen that the PLA logic in FIG. 3 provides the same output as the operation command and progress condition for X in Table 2 (a).

Work order X. FIG. 4 shows the work command/motion command conversion logic unit 5 for -XIs. FIG. 4 also shows the output of the operational data address A as an output. The operation command Y is input to the operation command code conversion unit 7, and the operation data address A is input to the operation command code conversion unit 7 via the operation data storage unit 6, and after being code matched as an operation control command, it is converted to the control target. As already mentioned, the data is output to 2. This will be discussed separately later.

Progress condition C from work command/motion command conversion logic unit 5
The output is transmitted to the operation command progress control section 8. One embodiment of the progress control section 8 is shown in FIG. In the figure, each point with CI circled at the left end is an input point for the progress condition. The output stage of the advancement control section 8 is surrounded by a broken line in FIG. 5(a), and the rules for this part are constructed as shown in FIG. 5(b).

Outputs Z+, Z2 of the progress control section 8; Zs and Z4 are fed back to the work command/motion command conversion logic section 5 as already explained.

Below are the progress conditions COHCjt Cr2r 031 C4
1(, 11) is input. The logical operation of the progress control unit 8 will be explained.

(i) Co: No progress, progress reset "1" is input to the C1 terminal in FIG. 5(a).

The 4-bit binary counter 101 is reset by this logical value, and the outputs Z+, Zt, Z31 and Z4 through the gates 102A-D and 103A-D are all reset to '0'.Work command/motion command conversion logic section 5 To (Z4
．． Zll, Zt, Zt) = l O,0,0
When ゜0) is input, the conversion logic section 8 outputs the operation command Y as described above. (No action, end of action) and progress condition C6 are output and the process is stopped.

(B) C1: Unconditional progress 1" is set at the C1 terminal, and this is input to the one-shot multi 105 via U R and gate 104. As a result, one shot pulse is generated, and (via JR gate 106) It is input to a 4-bit binary counter 101, and the count value is incremented by i-pm.

This count value increased by one is determined by the AND gate 102A.
~D, via OR gates 103A~D, Zll Z
It is output as 2+Za+Z4. As a result, the work command/motion command conversion logic unit 5 outputs the next motion command Y1 motion data address A and progress condition C, and waits for the next progress control.

Hc: Hold, manual advance 1" is set at C2 terminal, but another one of AND gate 111
AND gate Ill until there is one manual power 112
The logic output of remains at OIT and the OR gate 104
, the one-shot multi 105, and the output of the OR gate 106 are uO'', and the count value of the 4-bit binary counter 101 remains held.When the manual input of 1.12 becomes 1'', the output is 111. OR gate 104 is “1”
Then, the one-shot multi outputs one pulse, and one pulse is input to the counter 101 through the OR gate 106, and the count value increases by one. When these progress control commands are input to the work command/motion command conversion logic section 5,
Maintains progress and performs manual progression operations.

C8: 1" is set at the C3 end, and the output of the pulse generator 114 is A.
NI) Preset counter 115 through gate 113
is input. A preset value 116 is preset in the preset counter 115, and the pulse generator 11
At the point when the pulse count value of 4 becomes equal to the preset value, the output of the preset counter 115 becomes ゛1''.
The signal is input to the one-shot multi 105, and a shot pulse is generated. The pulse passes through the OkL gate 106 and is counted by the binary counter, and the count value increases by one. That is, it can be seen that after the elapse of the time between when 61'' is set at the C3 terminal and when the output of the preset counter 115 becomes ul'', an output that controls the next progression is issued. Needless to say, the time setting can be changed by changing the preset value.

(E) C1: Answer back confirmation progress This progress condition is that after a certain operation control command is output to the controlled object 2, the answer back from the controlled object 2 waits for feedback, and after confirmation, the next operation control command is issued. This is the progress condition that is output. Assume now that one operation control command is output and the progress condition at that time is C4. At this time,
'1' is set at the C4 terminal. On the other hand, as shown in FIG.
The OA is input to the operation command progress control section 8, and as shown in FIG.
) is set in the input point comparator 108. The answerback signal from the controlled object 2 is sent via the answerback input section 11 as shown in FIG.
As shown in FIG. 5(a), answer back input data 11
It is input to the input point comparator 108 as zero. The input point comparator 108 compares both data and sets its output to "1" if they match. This match check logic output is AND gate 107.0)1. Game) 104. 2-shot multi x05. By incrementing the count value of the binary counter by one through the OR gate 106, a progress control command for outputting the next operation control command can be sent to the conversion logic section 5.

(Go) C6 Proceed to the second designated number This is used when one motion control command is issued and if the progress condition at that time is C3, the motion control command with the preset number is advanced to be output next. It will be done. Here, it is assumed that the designated number is set using a 4-pit binary code.

When at1" is set at the C3 terminal, the R,8 flip-flop 117 is set and its output becomes "l".

This output at1'' serves several important functions.

First, hold the count value of the binary counter 101 +i?
[Transmitted to 118A-D and stores the count value.] This stored value is AND gated 125A-D.

OR gates 103A-D provide outputs Zl to Z4. At this time, the five-man power a of OR gate 124.

Since b, C, d, and e are uO'', the output of OR gate 124 is also uθ'', and therefore the output of the count value of counter 101 is prohibited by AND gates 102A-D. Furthermore, the count value of the binary counter 101 is AND
game) Count value coincidence detector 12 through 119A-D
It is input to 0.

As shown in FIG. 1, this detector 120 is provided with a 4-bit binary code corresponding to the destination designation number by the preset data unit 9 as a preset value to the operation command progress control unit 8.
is input. This is indicated by 121 in FIG. 5(a). The count value coincidence detector 120 outputs ']'' when the preset value and the count value of the binary counter 101 match.

1” is set on C6 terminal, FLS flip-flop 117
is set, AND gate 123 outputs pulse generator 1
14 pulses are passed through the 0'fL gate 106 to change the count 11^ of the binary counter 101. While the binary counter 101 is counting, Zl to Z4 are held values as described above. When the count value of the binary counter 101 matches the preset value, the output of the coincidence detector 120 becomes '1''.
The knob 117 is reset and its output becomes 0''.

When the output of H87 lip-flop 117 becomes 60'',
First, the pulse of the pulse generator 114 is blocked by the AND() 123, and the count value of the binary counter 101 becomes equal to the preset 4tK and stops. At the same time, the hold circuit] 18A-D's hold operation is released, but
The output of the hold circuits 118A-D is an AND game)A-D
will be blocked.

On the other hand, N (JT gate 122 is 10" to ul"
fx#), OR gate 124 "1" and 9AN
D game) 102A-D are used exclusively, and the count values of the binary counter 101 that match the preset value are output as 21 to Z4. That is, the preset designated destination number is transmitted to the work command/operation command conversion unit 5, and the desired function is achieved.

Operation command Y from work command/motion command conversion logic section 5
The operation data address A will now be described.

First of all, as stated at the beginning, the operation command Y is assumed to be of 16 types (Yo-Y+s), but one operation command Yi may not be limited to only l output depending on the controlled object, but may be multiple. There is a filter that needs to give the output of . The operation command code converter 7 is the part that adjusts the operation command code according to the characteristics of the controlled object.

Further, the operation data address A outputs the address where the operation data is stored. If it is possible to use address data as operation data, the operation data storage section 7 of FIG. 1 is unnecessary, and the address data is transmitted to the operation command code conversion section 7 as operation data.

〔Effect of the invention〕

According to the present invention, by simply giving a higher-level work command, it is possible to carry out a series of lower-order operations necessary to accomplish the work, thereby completing the above-mentioned work9. This makes it easier to display the robot, which previously had to be done, which saves manpower and allows both people to operate the robot.

Responsiveness has been improved by converting the control logic into firmware using a programmer pull array (PLA). l (α)

Claims (1)

[Claims] A series of operation commands to carry out the work in response to the upper work command are coded and stored in a programmable logic array, and the control logic is configured to output operation progress condition codes and operation data address codes in addition to the operation commands. A work command type robot control with a built-in function that sequentially outputs operation commands based on progress conditions.